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Getting Started

Use this page when you are new to lidarslam_ros2 and want the shortest path to a working map.

Choose A Path

You have Run
Docker only, no ROS 2 workspace docker run --rm -v "$PWD/lidarslam_output:/lidarslam_ws/output" ghcr.io/rsasaki0109/lidar_slam_ros2:humble
A rosbag2 directory and a built workspace bash scripts/run_autoware_map_beginner.sh /path/to/rosbag2
A bag, but you are not sure which topics it has python3 scripts/preflight_autoware_map_bag.py /path/to/rosbag2
You want the fixed public demo dataset bash scripts/download_ntu_viral_tnp01.sh && bash scripts/run_autoware_quickstart.sh

1. Build The Workspace

cd ~/ros2_ws/src
git clone --recursive https://github.com/rsasaki0109/lidar_slam_ros2.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

If the repository was cloned without submodules:

git -C src/lidar_slam_ros2 submodule update --init --recursive

2. Run Your First Bag

cd ~/ros2_ws/src/lidar_slam_ros2
bash scripts/run_autoware_map_beginner.sh /path/to/rosbag2 --dry-run
bash scripts/run_autoware_map_beginner.sh /path/to/rosbag2

The dry run prints the selected public workflow before anything starts. The real run writes the map under output/ by default.

3. Check The Result

Successful runs should leave these files:

  • pointcloud_map/
  • pointcloud_map/pointcloud_map_metadata.yaml
  • map_projector_info.yaml
  • verify_autoware_map.log
  • autoware_map_diagnosis.md

Open the saved map in a browser viewer:

bash scripts/run_autoware_map_beginner.sh /path/to/rosbag2 --foxglove

Or inspect an existing output directory:

python3 scripts/diagnose_autoware_map_run.py output/<run_dir> --write
python3 scripts/verify_autoware_map.py output/<run_dir>/pointcloud_map

Common First-Run Problems

Symptom Next check
metadata.yaml not found Pass the rosbag2 directory, not a .db3 file.
No compatible path is recommended Run python3 scripts/preflight_autoware_map_bag.py /path/to/rosbag2 and check for PointCloud2 plus Imu, or VelodyneScan plus Applanix topics.
Map verification fails Open verify_autoware_map.log and autoware_map_diagnosis.md in the output directory.
Viewer starts but no map appears Confirm the run produced pointcloud_map/ and try the Foxglove path before the full Autoware viewer.

For the full operator reference, continue with Autoware Quickstart and Operator Workflows.